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perf(autoware_map_based_prediction): removed duplicate findNearest calculations (#8490) #1470

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Aug 16, 2024
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perf(autoware_map_based_prediction): removed duplicate findNearest calculations (#8490) #1470

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36 changes: 20 additions & 16 deletions perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@

#include <lanelet2_core/LaneletMap.h>
#include <lanelet2_core/geometry/Lanelet.h>
#include <lanelet2_core/geometry/LaneletMap.h>
#include <lanelet2_core/geometry/Point.h>
#include <lanelet2_routing/RoutingGraph.h>
#include <tf2/utils.h>
Expand Down Expand Up @@ -360,20 +361,11 @@ CrosswalkEdgePoints getCrosswalkEdgePoints(const lanelet::ConstLanelet & crosswa
}

bool withinRoadLanelet(
const TrackedObject & object, const lanelet::LaneletMapPtr & lanelet_map_ptr,
const TrackedObject & object,
const std::vector<std::pair<double, lanelet::Lanelet>> & surrounding_lanelets_with_dist,
const bool use_yaw_information = false)
{
const auto & obj_pos = object.kinematics.pose_with_covariance.pose.position;
lanelet::BasicPoint2d search_point(obj_pos.x, obj_pos.y);
// nearest lanelet
constexpr double search_radius = 10.0; // [m]
const auto surrounding_lanelets =
lanelet::geometry::findNearest(lanelet_map_ptr->laneletLayer, search_point, search_radius);

for (const auto & lanelet_with_dist : surrounding_lanelets) {
const auto & dist = lanelet_with_dist.first;
const auto & lanelet = lanelet_with_dist.second;

for (const auto & [dist, lanelet] : surrounding_lanelets_with_dist) {
if (lanelet.hasAttribute(lanelet::AttributeName::Subtype)) {
lanelet::Attribute attr = lanelet.attribute(lanelet::AttributeName::Subtype);
if (
Expand All @@ -397,6 +389,20 @@ bool withinRoadLanelet(
return false;
}

bool withinRoadLanelet(
const TrackedObject & object, const lanelet::LaneletMapPtr & lanelet_map_ptr,
const bool use_yaw_information = false)
{
const auto & obj_pos = object.kinematics.pose_with_covariance.pose.position;
lanelet::BasicPoint2d search_point(obj_pos.x, obj_pos.y);
// nearest lanelet
constexpr double search_radius = 10.0; // [m]
const auto surrounding_lanelets_with_dist =
lanelet::geometry::findWithin2d(lanelet_map_ptr->laneletLayer, search_point, search_radius);

return withinRoadLanelet(object, surrounding_lanelets_with_dist, use_yaw_information);
}

boost::optional<CrosswalkEdgePoints> isReachableCrosswalkEdgePoints(
const TrackedObject & object, const lanelet::ConstLanelets & surrounding_lanelets,
const lanelet::ConstLanelets & surrounding_crosswalks, const CrosswalkEdgePoints & edge_points,
Expand Down Expand Up @@ -1412,9 +1418,7 @@ PredictedObject MapBasedPredictionNode::getPredictedObjectAsCrosswalkUser(
const auto & obj_vel = object.kinematics.twist_with_covariance.twist.linear;
const auto estimated_velocity = std::hypot(obj_vel.x, obj_vel.y);
const auto velocity = std::max(min_crosswalk_user_velocity_, estimated_velocity);
// TODO(Mamoru Sobue): 3rd argument of findNearest is the number of lanelets, not radius, so past
// implementation has been wrong.
const auto surrounding_lanelets_with_dist = lanelet::geometry::findNearest(
const auto surrounding_lanelets_with_dist = lanelet::geometry::findWithin2d(
lanelet_map_ptr_->laneletLayer, lanelet::BasicPoint2d{obj_pos.x, obj_pos.y},
prediction_time_horizon_.pedestrian * velocity);
lanelet::ConstLanelets surrounding_lanelets;
Expand Down Expand Up @@ -1459,7 +1463,7 @@ PredictedObject MapBasedPredictionNode::getPredictedObjectAsCrosswalkUser(

// If the object is not crossing the crosswalk, in the road lanelets, try to find the closest
// crosswalk and generate path to the crosswalk edge
} else if (withinRoadLanelet(object, lanelet_map_ptr_)) {
} else if (withinRoadLanelet(object, surrounding_lanelets_with_dist)) {
lanelet::ConstLanelet closest_crosswalk{};
const auto & obj_pose = object.kinematics.pose_with_covariance.pose;
const auto found_closest_crosswalk =
Expand Down
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